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   <div id="projectname">Calico
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   <div id="projectbrief">A visual-inertial calibration library designed for rapid problem construction and debugging.</div>
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<li class="navelem"><a class="el" href="dir_e7ac338090e46d594d3ea7a0e9efc7ba.html">calico</a></li><li class="navelem"><a class="el" href="dir_65d747a460e6d1ffaba160a154370ebb.html">third_party</a></li><li class="navelem"><a class="el" href="dir_3db016810d58e96ba2daf796df211604.html">apriltags</a></li><li class="navelem"><a class="el" href="dir_4a25d34b206d743290bd9e525b1db332.html">apriltags</a></li>  </ul>
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<div class="title">GLine2D.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef GLINE2D_H</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define GLINE2D_H</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;apriltags/MathUtil.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;apriltags/XYWeight.h&quot;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceAprilTags.html">AprilTags</a> {</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classAprilTags_1_1GLine2D.html">   14</a></span>&#160;<span class="keyword">class </span><a class="code" href="classAprilTags_1_1GLine2D.html">GLine2D</a> {</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <a class="code" href="classAprilTags_1_1GLine2D.html#afa1924912e2360ddd8288697333ef9ef">GLine2D</a>();</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="comment">/*  @param slope the slope</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">   *  @param b the y intercept</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">   */</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="classAprilTags_1_1GLine2D.html#afa1924912e2360ddd8288697333ef9ef">GLine2D</a>(<span class="keywordtype">float</span> slope, <span class="keywordtype">float</span> b);</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="comment">/*  @param dx A change in X corresponding to dy</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">   *  @param dy A change in Y corresponding to dx</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">   *  @param p A point that the line passes through</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">   */</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <a class="code" href="classAprilTags_1_1GLine2D.html#afa1924912e2360ddd8288697333ef9ef">GLine2D</a>(<span class="keywordtype">float</span> dX, <span class="keywordtype">float</span> dY, <span class="keyword">const</span> std::pair&lt;float,float&gt;&amp; pt);</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="comment">/*  @param p1 the first point</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">   *  @param p2 the second point</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment">   */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <a class="code" href="classAprilTags_1_1GLine2D.html#afa1924912e2360ddd8288697333ef9ef">GLine2D</a>(<span class="keyword">const</span> std::pair&lt;float,float&gt;&amp; p1, <span class="keyword">const</span> std::pair&lt;float,float&gt;&amp; p2);</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="comment">/*  This allows easy computation if one point is between two other points on the line:</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">   *  compute the line coordinate of all three points and test if a&lt;=b&lt;=c. This is </span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">   *  implemented by computing the dot product of the vector &#39;p&#39; with the</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">   *  line&#39;s direct unit vector.</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">   */</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keywordtype">float</span> <a class="code" href="classAprilTags_1_1GLine2D.html#a5a108fcc6d0174cd10c4551983193567">getLineCoordinate</a>(<span class="keyword">const</span> std::pair&lt;float,float&gt;&amp; p);</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  std::pair&lt;float,float&gt; <a class="code" href="classAprilTags_1_1GLine2D.html#a107272ab70c6283f2c48899ab6fc2c41">getPointOfCoordinate</a>(<span class="keywordtype">float</span> coord);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  std::pair&lt;float,float&gt; <a class="code" href="classAprilTags_1_1GLine2D.html#a19ab532413bcdc53ea3e8ec665e69793">intersectionWith</a>(<span class="keyword">const</span> <a class="code" href="classAprilTags_1_1GLine2D.html">GLine2D</a>&amp; line) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">static</span> <a class="code" href="classAprilTags_1_1GLine2D.html">GLine2D</a> lsqFitXYW(<span class="keyword">const</span> std::vector&lt;XYWeight&gt;&amp; xyweights);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">float</span> getDx()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> dx; }</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">float</span> getDy()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> dy; }</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">float</span> getFirst()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> p.first; }</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">float</span> getSecond()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> p.second; }</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">protected</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordtype">void</span> normalizeSlope();</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordtype">void</span> normalizeP();</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">float</span> dx, dy;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  std::pair&lt;float,float&gt; p;  </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordtype">bool</span> didNormalizeSlope;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">bool</span> didNormalizeP;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;};</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;} <span class="comment">// namespace</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclassAprilTags_1_1GLine2D_html"><div class="ttname"><a href="classAprilTags_1_1GLine2D.html">AprilTags::GLine2D</a></div><div class="ttdoc">A 2D line.</div><div class="ttdef"><b>Definition:</b> GLine2D.h:14</div></div>
<div class="ttc" id="aclassAprilTags_1_1GLine2D_html_a107272ab70c6283f2c48899ab6fc2c41"><div class="ttname"><a href="classAprilTags_1_1GLine2D.html#a107272ab70c6283f2c48899ab6fc2c41">AprilTags::GLine2D::getPointOfCoordinate</a></div><div class="ttdeci">std::pair&lt; float, float &gt; getPointOfCoordinate(float coord)</div><div class="ttdoc">The inverse of getLineCoordinate.</div><div class="ttdef"><b>Definition:</b> GLine2D.cc:22</div></div>
<div class="ttc" id="aclassAprilTags_1_1GLine2D_html_a19ab532413bcdc53ea3e8ec665e69793"><div class="ttname"><a href="classAprilTags_1_1GLine2D.html#a19ab532413bcdc53ea3e8ec665e69793">AprilTags::GLine2D::intersectionWith</a></div><div class="ttdeci">std::pair&lt; float, float &gt; intersectionWith(const GLine2D &amp;line) const</div><div class="ttdoc">Compute the point where two lines intersect, or (-1,0) if the lines are parallel.</div><div class="ttdef"><b>Definition:</b> GLine2D.cc:27</div></div>
<div class="ttc" id="aclassAprilTags_1_1GLine2D_html_a5a108fcc6d0174cd10c4551983193567"><div class="ttname"><a href="classAprilTags_1_1GLine2D.html#a5a108fcc6d0174cd10c4551983193567">AprilTags::GLine2D::getLineCoordinate</a></div><div class="ttdeci">float getLineCoordinate(const std::pair&lt; float, float &gt; &amp;p)</div><div class="ttdef"><b>Definition:</b> GLine2D.cc:17</div></div>
<div class="ttc" id="aclassAprilTags_1_1GLine2D_html_afa1924912e2360ddd8288697333ef9ef"><div class="ttname"><a href="classAprilTags_1_1GLine2D.html#afa1924912e2360ddd8288697333ef9ef">AprilTags::GLine2D::GLine2D</a></div><div class="ttdeci">GLine2D()</div><div class="ttdoc">Create a new line.</div><div class="ttdef"><b>Definition:</b> GLine2D.cc:5</div></div>
<div class="ttc" id="anamespaceAprilTags_html"><div class="ttname"><a href="namespaceAprilTags.html">AprilTags</a></div><div class="ttdef"><b>Definition:</b> Edge.h:8</div></div>
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